Added scrollbars to all tabs to avoid issues with low resolution screens

RC 0.3

Revision

Changes

Bugfixes

1327

Removed deprecated debug buttons

MATLAB API Changelog

After v1.0 release, major version number changes indicate backwards incompatible changes, while minor version number changes are backwards compatible, both in API and ABI.
Before v1.0, changes that break backwards compatibility are highlighted in bold.

Snapshot

Work in progress that may be available on the archive, but has not been officially released yet.

Revision

Changes

1.5.1-SNAPSHOT

Added hasReceivedAck = group.send('RequestAck', true) for implementing guaranteed delivery similar to sendWithAcknowledgement in other APIs.

Release 1.5

Revision

Changes

1.5

HebiGroup

Added VelocityLimit and EffortLimit to send method

Added sequence and rxSequence to full view

HebiKinematics

Added getPayload()

HebiUtil

Added readGroupLogInfo

Added newImitationGroup

Logging

Improved .hebilog to .mat file conversion

Release 1.4

Revision

Changes

1.4.3 (2457)

Bugfixes

timeout now also works for getNextFeedbackFull and other specializations

Added support for reusing multiple feedback structs in a single call to getNextFeedback. This enables retrieving different types, e.g., Full and IO, in a single call.

Added getNextFeedback('timeout', 0) for non-blocking checks. Returns empty if no new feedback is available.

Added inf to accepted values for command lifetime. This causes commands to no never time out.

HebiKinematics

Added experimental support for loading hrdf v1.1 files

inverse kinematics: Changed default initial conditions to a small non-zero value (1E-6) to avoid starting in singularities. Note that this parameter is only optional to remain backwards compatible, and that users should always supply their own initial conditions.

RC 0.7

Added group.stopLog('LogFormat', 'raw') to stop logging without doing any expensive conversion. This is useful for cases where logging needs to be stopped without halting execution

Fixed a bug introduced in rev1732 that prevented gtroups of >30 modules from logging

1732

HebiGroup

Internal changes to the way logging is done (fully backwards compatible)

Added info messages, e.g., gains, names, etc., to log files. Support for reading logged info messages will be added at a future date.

HebiKinematics

Added an objective to IK that tries to keep the joint angles within +/- pi of the initial condition. This fixes an issue where IK resulted in jumps over multiple rotations on slight variations of the initial conditions.

1723

HebiGroup

Internal improvements related to converting logs

Changed 'Hdr' log format to record each module separately

HebiKinematics

Added new joint types including X8-3 and X8-9

HebiPoseFilter (not a supported API)

Fixed a bug that caused the filter to initialize with NaN under some rare conditions

1709

HebiTrajectory

added getWaypointTime() to get access the times when waypoints are hit.

removed the restriction that 'time' needs to start at zero for 'UnconstrainedQp' trajectories.

HebiKinematics

Fixed a bug that prohibited the calculation of forward kinematics for chains without any joints. The empty matrix "[]" is now a valid position argument.

HebiLookup

made initOnce() public for cases where the loading of additional Java libraries resets the Java classpath without reinitializing the backing MATLAB class.

1702

HebiTrajectoryGenerator

Removed requirement for defined end positions when a user supplies a fully defined time vector (UnconstrainedQp algorithm only)

Python API Changelog

After v1.0 release, major version number changes indicate backwards incompatible changes, while minor version number changes are backwards compatible, both in API and ABI.
Before v1.0, changes that break backwards compatibility are highlighted in bold.

0.99.2

Features

Changes/Fixes

added util.clear_all_groups to explicitly dispose of all groups, which can be helpful in environments such as IPython

Add an atexit handler which explicitly finalizes all groups created (resolves some crashing python scripts)

Fix a memory leak which doesn’t properly dispose of unreachable group instances

Fix a bug where lookup.lookup_frequency would always throw an exception

API memory footprint should be smaller due to using __slots__ in many internal structures

Fix bug where the translation vector was incorrect for X8 series actuators

Improve memory usage at ctypes layer

Add thread local caches for the RobotModel API

Various small performance improvements

Improve PyPy 2.7 and 3.3 support

0.96.2

Features

Changes/Fixes

Fixed edge case when RobotModel had no degrees of freedom

Improved memory usage at ctypes layer

Improved error message readability

Added more argument safety checks for internal components

Changed versioning convention to include a revision version

0.95

Features

Changes/Fixes

Added name and family fields in the GroupCommand class

Added gains API For GroupCommand and GroupInfo

Updated targeted C API version to 1.0.0

Fixed a buffer overflow issue in the Lookup class

Improved source code documentation

Added more value and type checks in internal components

ROS API Changelog

After v1.0 release, major version number changes indicate backwards incompatible changes, while minor version number changes are backwards compatible, both in API and ABI.
Before v1.0, changes that break backwards compatibility are highlighted in bold.

TBD

Features

Changes/Fixes

CPP API Changelog

After v1.0 release, major version number changes indicate backwards incompatible changes, while minor version number changes are backwards compatible, both in API and ABI.
Changes that break backwards compatibility on major version releases (or pre-v1.0) are highlighted in bold.

2.0.1

Features

Changes/Fixes

Updated to C API v1.4.2 to fix initial feedback frequency bug.

2.0.0

Features

Changes/Fixes

Add HRDF 1.1.0 import capabilities

Feedback additions: mobile feedback and motor position

GroupCommands now have a "Clear" function.

GroupFeedback has a "getTime" function (in seconds or microseconds), getting the timestamp of the last received packet in the GroupFeedback object.

Added a number of "const" versions of getter function to allow better use within const-correct parent structures and classes.

Documentation updates.

Added dependency on Eigen v3.3.3. Included for convenience with downloaded packages.

Added index operator to mac address class.

C API Changelog

After v1.0 release, major version number changes indicate backwards incompatible changes, while minor version number changes are backwards compatible, both in API and ABI.
Before v1.0, changes that break backwards compatibility are highlighted in bold.

1.4.2

Features

Changes/Fixes

Fix race condition most commonly seen when setting feedback frequency immediately after creating a group; this potentially resulted in no received feedback until the feedback frequency was set again.

1.4.1

Features

Changes/Fixes

Fixed initial C API feedback frequency for imitation groups to properly be set to the default (in 1.4.0, this was either undefined or 0, depending on the platform).

Definition of anonymous structures in hebi.h was technically not compliant with ISO C++11 standard 16.6.4.3. Changed from _Hebi<Type> to Hebi<Type>_ to eliminate undefined behavior.